OMPL For Mac Publisher's description
from OMPL Team
The Open Motion Planning Library (OMPL) consists of many state-of-the-art...
The Open Motion Planning Library (OMPL) consists of many state-of-the-art sampling-based motion planning algorithms. OMPL itself does not contain any code related to, e.g., collision checking or visualization. This is a deliberate design choice, so that OMPL is not tied to a particular collision checker or visualization front end.
OMPL.app, the front-end for OMPL, contains a lightweight wrapper for the PQP collision checker and a simple GUI based on PyQt. The graphical front-end can be used for simple rigid body planning. It relies on the Assimp library to import a large variety of mesh formats that can be used to represent the robot and its environment.
We have also developed a teaching module on motion planning that is centered around OMPL.app. We are looking for educational partners to use and further develop the material. Please contact us for more information.
What's New in This Release:В· Improved ODE bindings
В· Added support for sampling controls based on the previous control and/or the state at which the control will be executed.
System Requirements:В· Python
Program Release Status: New Release
Program Install Support: Install and Uninstall